......DE....FRGB..........SE......................RThis application was filed on 11 - 07 - 1995 as a divisional application to the application mentioned under INID code 60.0679903EUROPEAN PATENT APPLICATIONA319951213EP95110794.519901210enenenPCT/US89/0558019891211WO19951213199550199511021995446 6G 05D 1/02 A 6G 01S 5/14 BdeIntegriertes Fahrzeugpositionier- und -navigationssystem; dessen Vorrichtung und VerfahrenenIntegrated vehicle positioning and navigation system, apparatus and methodfrProcédé, appareil et système de navigation et de positionnement intégrés pour véhicules191902277.2050784519901210CATERPILLAR INC.0075970090/4952/02100 Northeast Adams StreetPeoria Illinois 61629-6490USKyrtsos, Christos T.19680 Cherry Hill RoadSouthfield, Michigan 48076USGudat, Adam J.523 Pinto DriveEdelstein, Illinois 61516USChristensen, Dana A.11125 North Trigger RoadDunlap, Illinois 61525USFriedrich, Douglas W.1007 Edison CourtPekin, Illinois 61554USStafford, Darrell E.12151 Hickory Grove RoadDunlap, Illinois 61525USSennott, James W.418 N. Linden StreetBloomington, Illinois 61701USBrunner, Michael John00028871GILL JENNINGS & EVERY Broadgate House 7 Eldon StreetLondon EC2M 7LHGBDEFRGBSE19951213199550

Systems and methods for positioning and navigating an autonomous vehicle (102,310) allow the vehicle (102,310) to travel between locations. A first position estimate (112) of the vehicle (102,310) is derived from satellites (132-170,200-206) of a global positioning system (100A) and/or a pseudolite(s) (105). The pseudolite(s) (105) may be used exclusively when the satellites (132-170,200-206) are not in view of the vehicle (102,310). A second position estimate (114) is derived from an inertial reference unit (904) and/or a vehicle odometer (902). The first and second position estimates are combined and filtered to derive a third position estimate (118). Navigation of the vehicle (102,310) is obtained using the position information (414), obstacle detection and avoidance data (416), and on board vehicle data (908,910).